Apparatus and method of counterbalancing axes and maintaining a user selected position of a X-ray scanner gantry

A system comprising:

• an input sensor configured to (i) detect movement of a first component of an x-ray scanner gantry by a user, and (ii) generate an input command signal, wherein the input command signal commands movement of the x-ray scanner gantry in a direction;
• a controller configured to control operation of a motor based at least on a feedback signal to provide a net force on the x-ray scanner gantry in the direction that is equal to a predetermined value or is within a predetermined range of the predetermined value;
• and
• a feedback sensor configured to (i) detect movement of the x-ray scanner gantry in the direction as a result of the controlled operation of the motor, and (ii) generate the feedback signal based on the detected movement.

A method comprising:

• detecting, via a first input sensor, a first amount of force or torque applied by a user on a component of an x-ray scanner gantry in a first direction;
• generating a first input command signal, wherein the first input command signal indicates the first amount of force or torque;
• controlling operation of a motor based at least on a first feedback signal to provide counterbalancing of the x-ray scanner gantry in the first direction;
• detecting, via a first feedback sensor, a second amount of force or torque applied on the x-ray scanner gantry in the first direction as a result of the controlled operation of the motor;
• and
• generating the first feedback signal based on the second amount of force or torque.